OpenRaiser/Intern-Atlas huggingface dataset:
Analog Foundation Models
Venue: arXiv cs.LG 2025
Year: 2025

Analog in-memory computing (AIMC) is a promising compute paradigm to improve speed and power efficiency of neural network inference beyond the limits of conventional von Neumann-based architectures. However, AIMC introduces fundamental challenges such as noisy computations and strict constraints on input and output quantization. Because of these constraints and imprecisions, off-the-shelf LLMs are not able to achieve 4-bit-level performance when deployed on AIMC-based hardware. While researchers previously investigated recovering this accuracy gap on small, mostly vision-based models, a generic method applicable to LLMs pre-trained on trillions of tokens does not yet exist. In this work, we introduce a general and scalable method to robustly adapt LLMs for execution on noisy, low-precision analog hardware. Our approach enables state-of-the-art models $\unicode{x2013}$ including Phi-3-mini-4k-instruct and Llama-3.2-1B-Instruct $\unicode{x2013}$ to retain performance comparable to 4-bit weight, 8-bit activation baselines, despite the presence of analog noise and quantization constraints. Additionally, we show that as a byproduct of our training methodology, analog foundation models can be quantized for inference on low-precision digital hardware. Finally, we show that our models also benefit from test-time compute scaling, showing better scaling behavior than models trained with 4-bit weight and 8-bit static input quantization. Our work bridges the gap between high-capacity LLMs and efficient analog hardware, offering a path toward energy-efficient foundation models. Code is available at https://github.com/IBM/analog-foundation-models.
ManipBench: Benchmarking Vision-Language Models for Low-Level Robot Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Vision-Language Models (VLMs) have revolutionized artificial intelligence and robotics due to their commonsense reasoning capabilities. In robotic manipulation, VLMs are used primarily as high-level planners, but recent work has also studied their lower-level reasoning ability, which refers to making decisions about precise robot movements. However, the community currently lacks a clear and common benchmark that can evaluate how well VLMs can aid low-level reasoning in robotics. Consequently, we propose a novel benchmark, ManipBench, to evaluate the low-level robot manipulation reasoning capabilities of VLMs across various dimensions, including how well they understand object-object interactions and deformable object manipulation. We extensively test 33 representative VLMs across 10 model families on our benchmark, including variants to test different model sizes. Our evaluation shows that the performance of VLMs significantly varies across tasks, and there is a strong correlation between this performance and trends in our real-world manipulation tasks. It also shows that there remains a significant gap between these models and human-level understanding. See our website at: https://manipbench.github.io.
Energy-Efficient Federated Learning for AIoT using Clustering Methods
Venue: arXiv cs.LG 2025
Year: 2025

While substantial research has been devoted to optimizing model performance, convergence rates, and communication efficiency, the energy implications of federated learning (FL) within Artificial Intelligence of Things (AIoT) scenarios are often overlooked in the existing literature. This study examines the energy consumed during the FL process, focusing on three main energy-intensive processes: pre-processing, communication, and local learning, all contributing to the overall energy footprint. We rely on the observation that device/client selection is crucial for speeding up the convergence of model training in a distributed AIoT setting and propose two clustering-informed methods. These clustering solutions are designed to group AIoT devices with similar label distributions, resulting in clusters composed of nearly heterogeneous devices. Hence, our methods alleviate the heterogeneity often encountered in real-world distributed learning applications. Throughout extensive numerical experimentation, we demonstrate that our clustering strategies typically achieve high convergence rates while maintaining low energy consumption when compared to other recent approaches available in the literature.
An AI-Powered Research Assistant in the Lab: A Practical Guide for Text Analysis Through Iterative Collaboration with LLMs
Venue: arXiv cs.CL 2025
Year: 2025

Analyzing texts such as open-ended responses, headlines, or social media posts is a time- and labor-intensive process highly susceptible to bias. LLMs are promising tools for text analysis, using either a predefined (top-down) or a data-driven (bottom-up) taxonomy, without sacrificing quality. Here we present a step-by-step tutorial to efficiently develop, test, and apply taxonomies for analyzing unstructured data through an iterative and collaborative process between researchers and LLMs. Using personal goals provided by participants as an example, we demonstrate how to write prompts to review datasets and generate a taxonomy of life domains, evaluate and refine the taxonomy through prompt and direct modifications, test the taxonomy and assess intercoder agreements, and apply the taxonomy to categorize an entire dataset with high intercoder reliability. We discuss the possibilities and limitations of using LLMs for text analysis.
Unfettered Forceful Skill Acquisition with Physical Reasoning and Coordinate Frame Labeling
Venue: arXiv cs.RO 2025
Year: 2025

Vision language models (VLMs) exhibit vast knowledge of the physical world, including intuition of physical and spatial properties, affordances, and motion. With fine-tuning, VLMs can also natively produce robot trajectories. We demonstrate that eliciting wrenches, not trajectories, allows VLMs to explicitly reason about forces and leads to zero-shot generalization in a series of manipulation tasks without pretraining. We achieve this by overlaying a consistent visual representation of relevant coordinate frames on robot-attached camera images to augment our query. First, we show how this addition enables a versatile motion control framework evaluated across four tasks (opening and closing a lid, pushing a cup or chair) spanning prismatic and rotational motion, an order of force and position magnitude, different camera perspectives, annotation schemes, and two robot platforms over 220 experiments, resulting in 51% success across the four tasks. Then, we demonstrate that the proposed framework enables VLMs to continually reason about interaction feedback to recover from task failure or incompletion, with and without human supervision. Finally, we observe that prompting schemes with visual annotation and embodied reasoning can bypass VLM safeguards. We characterize prompt component contribution to harmful behavior elicitation and discuss its implications for developing embodied reasoning. Our code, videos, and data are available at: https://scalingforce.github.io/.
Community-based Multi-Agent Reinforcement Learning with Transfer and Active Exploration
Venue: arXiv cs.LG 2025
Year: 2025

We propose a new framework for multi-agent reinforcement learning (MARL), where the agents cooperate in a time-evolving network with latent community structures and mixed memberships. Unlike traditional neighbor-based or fixed interaction graphs, our community-based framework captures flexible and abstract coordination patterns by allowing each agent to belong to multiple overlapping communities. Each community maintains shared policy and value functions, which are aggregated by individual agents according to personalized membership weights. We also design actor-critic algorithms that exploit this structure: agents inherit community-level estimates for policy updates and value learning, enabling structured information sharing without requiring access to other agents' policies. Importantly, our approach supports both transfer learning by adapting to new agents or tasks via membership estimation, and active learning by prioritizing uncertain communities during exploration. Theoretically, we establish convergence guarantees under linear function approximation for both actor and critic updates. To our knowledge, this is the first MARL framework that integrates community structure, transferability, and active learning with provable guarantees.
Automated Statistical Testing and Certification of a Reliable Model-Coupling Server for Scientific Computing
Venue: arXiv cs.SE 2025
Year: 2025

Sequence-based specification and usage-driven statistical testing are designed for rigorous and cost-effective software development, offering a semi-formal approach to assessing the behavior of complex systems and interactions between various components. This approach is particularly valuable for scientific computing applications in which comprehensive tests are needed to prevent flawed results or conclusions. As scientific discovery becomes increasingly more complex, domain scientists couple multiple scientific computing models or simulations to solve intricate multiphysics and multiscale problems. These model-coupling applications use a hardwired coupling program or a flexible web service to link and combine different models. In this paper, we focus on the quality assurance of the more elastic web service via a combination of rigorous specification and testing methods. The application of statistical testing exposes problems ignored by pre-written unit tests and highlights areas in the code where failures might occur. We certify the model-coupling server controller with a derived reliability statistic, offering a quantitative measure to support a claim of its robustness.
Automated Detection of Clinical Entities in Lung and Breast Cancer Reports Using NLP Techniques
Venue: arXiv cs.CL 2025
Year: 2025

Research projects, including those focused on cancer, rely on the manual extraction of information from clinical reports. This process is time-consuming and prone to errors, limiting the efficiency of data-driven approaches in healthcare. To address these challenges, Natural Language Processing (NLP) offers an alternative for automating the extraction of relevant data from electronic health records (EHRs). In this study, we focus on lung and breast cancer due to their high incidence and the significant impact they have on public health. Early detection and effective data management in both types of cancer are crucial for improving patient outcomes. To enhance the accuracy and efficiency of data extraction, we utilized GMV's NLP tool uQuery, which excels at identifying relevant entities in clinical texts and converting them into standardized formats such as SNOMED and OMOP. uQuery not only detects and classifies entities but also associates them with contextual information, including negated entities, temporal aspects, and patient-related details. In this work, we explore the use of NLP techniques, specifically Named Entity Recognition (NER), to automatically identify and extract key clinical information from EHRs related to these two cancers. A dataset from Health Research Institute Hospital La Fe (IIS La Fe), comprising 200 annotated breast cancer and 400 lung cancer reports, was used, with eight clinical entities manually labeled using the Doccano platform. To perform NER, we fine-tuned the bsc-bio-ehr-en3 model, a RoBERTa-based biomedical linguistic model pre-trained in Spanish. Fine-tuning was performed using the Transformers architecture, enabling accurate recognition of clinical entities in these cancer types. Our results demonstrate strong overall performance, particularly in identifying entities like MET and PAT, although challenges remain with less frequent entities like EVOL.
Visual Feedback of Pattern Separability Improves Myoelectric Decoding Performance of Upper Limb Prostheses
Venue: arXiv cs.HC 2025
Year: 2025

State-of-the-art upper limb myoelectric prostheses often use pattern recognition (PR) control systems that translate electromyography (EMG) signals into desired movements. As prosthesis movement complexity increases, users often struggle to produce sufficiently distinct EMG patterns for reliable classification. Existing training typically involves heuristic, trial-and-error user adjustments to static decoder boundaries. Goal: We introduce the Reviewer, a 3D visual interface projecting EMG signals directly into the decoder's classification space, providing intuitive, real-time insight into PR algorithm behavior. This structured feedback reduces cognitive load and fosters mutual, data-driven adaptation between user-generated EMG patterns and decoder boundaries. Methods: A 10-session study with 12 able-bodied participants compared PR performance after motor-based training and updating using the Reviewer versus conventional virtual arm visualization. Performance was assessed using a Fitts law task that involved the aperture of the cursor and the control of orientation. Results: Participants trained with the Reviewer achieved higher completion rates, reduced overshoot, and improved path efficiency and throughput compared to the standard visualization group. Significance: The Reviewer introduces decoder-informed motor training, facilitating immediate and consistent PR-based myoelectric control improvements. By iteratively refining control through real-time feedback, this approach reduces reliance on trial-and-error recalibration, enabling a more adaptive, self-correcting training framework. Conclusion: The 3D visual feedback significantly improves PR control in novice operators through structured training, enabling feedback-driven adaptation and reducing reliance on extensive heuristic adjustments.
WhatsAI: Transforming Meta Ray-Bans into an Extensible Generative AI Platform for Accessibility
Venue: arXiv cs.HC 2025
Year: 2025

Multi-modal generative AI models integrated into wearable devices have shown significant promise in enhancing the accessibility of visual information for blind or visually impaired (BVI) individuals, as evidenced by the rapid uptake of Meta Ray-Bans among BVI users. However, the proprietary nature of these platforms hinders disability-led innovation of visual accessibility technologies. For instance, OpenAI showcased the potential of live, multi-modal AI as an accessibility resource in 2024, yet none of the presented applications have reached BVI users, despite the technology being available since then. To promote the democratization of visual access technology development, we introduce WhatsAI, a prototype extensible framework that empowers BVI enthusiasts to leverage Meta Ray-Bans to create personalized wearable visual accessibility technologies. Our system is the first to offer a fully hackable template that integrates with WhatsApp, facilitating robust Accessible Artificial Intelligence Implementations (AAII) that enable blind users to conduct essential visual assistance tasks, such as real-time scene description, object detection, and Optical Character Recognition (OCR), utilizing standard machine learning techniques and cutting-edge visual language models. The extensible nature of our framework aspires to cultivate a community-driven approach, led by BVI hackers and innovators to tackle the complex challenges associated with visual accessibility.
Radiogenomic Bipartite Graph Representation Learning for Alzheimer's Disease Detection
Venue: arXiv cs.LG 2025
Year: 2025

Imaging and genomic data offer distinct and rich features, and their integration can unveil new insights into the complex landscape of diseases. In this study, we present a novel approach utilizing radiogenomic data including structural MRI images and gene expression data, for Alzheimer's disease detection. Our framework introduces a novel heterogeneous bipartite graph representation learning featuring two distinct node types: genes and images. The network can effectively classify Alzheimer's disease (AD) into three distinct stages:AD, Mild Cognitive Impairment (MCI), and Cognitive Normal (CN) classes, utilizing a small dataset. Additionally, it identified which genes play a significant role in each of these classification groups. We evaluate the performance of our approach using metrics including classification accuracy, recall, precision, and F1 score. The proposed technique holds potential for extending to radiogenomic-based classification to other diseases.
BINGO: A Novel Pruning Mechanism to Reduce the Size of Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

Over the past decade, the use of machine learning has increased exponentially. Models are far more complex than ever before, growing to gargantuan sizes and housing millions of weights. Unfortunately, the fact that large models have become the state of the art means that it often costs millions of dollars to train and operate them. These expenses not only hurt companies but also bar non-wealthy individuals from contributing to new developments and force consumers to pay greater prices for AI. Current methods used to prune models, such as iterative magnitude pruning, have shown great accuracy but require an iterative training sequence that is incredibly computationally and environmentally taxing. To solve this problem, BINGO is introduced. BINGO, during the training pass, studies specific subsets of a neural network one at a time to gauge how significant of a role each weight plays in contributing to a network's accuracy. By the time training is done, BINGO generates a significance score for each weight, allowing for insignificant weights to be pruned in one shot. BINGO provides an accuracy-preserving pruning technique that is less computationally intensive than current methods, allowing for a world where AI growth does not have to mean model growth, as well.
SnapNCode: An Integrated Development Environment for Programming Physical Objects Interactions
Venue: arXiv cs.HC 2025
Year: 2025

Spatial computing technologies have the potential to revolutionize how we interact with the world around us. However, most modern integrated development environments (IDEs) have not fully adapted to this paradigm shift. For example, physical 3D objects in the real world are still represented as 2D text variables in code, creating a significant perceptual distance between these representations. In response to this challenge, we introduce SnapNCode, a novel IDE for spatial programming. SnapNCode enables programmers to capture various states of physical objects through live video streams from cameras and directly insert these visual representations into their code. Moreover, users can augment physical objects by attaching code snippets onto objects, which are opportunistically triggered when observed by cameras. We conducted a user study (N=12) to assess the usability of SnapNCode. Feedback from participants indicates that the system is easy-to-use and holds promise for daily casual uses and integration into a broader range of workflows.
Unsupervised Radar Point Cloud Enhancement via Arbitrary LiDAR Guided Diffusion Prior
Venue: arXiv cs.RO 2025
Year: 2025

In industrial automation, radar is a critical sensor in machine perception. However, the angular resolution of radar is inherently limited by the Rayleigh criterion, which depends on both the radar's operating wavelength and the effective aperture of its antenna array.To overcome these hardware-imposed limitations, recent neural network-based methods have leveraged high-resolution LiDAR data, paired with radar measurements, during training to enhance radar point cloud resolution. While effective, these approaches require extensive paired datasets, which are costly to acquire and prone to calibration error. These challenges motivate the need for methods that can improve radar resolution without relying on paired high-resolution ground-truth data. Here, we introduce an unsupervised radar points enhancement algorithm that employs an arbitrary LiDAR-guided diffusion model as a prior without the need for paired training data. Specifically, our approach formulates radar angle estimation recovery as an inverse problem and incorporates prior knowledge through a diffusion model with arbitrary LiDAR domain knowledge. Experimental results demonstrate that our method attains high fidelity and low noise performance compared to traditional regularization techniques. Additionally, compared to paired training methods, it not only achieves comparable performance but also offers improved generalization capability. To our knowledge, this is the first approach that enhances radar points output by integrating prior knowledge via a diffusion model rather than relying on paired training data. Our code is available at https://github.com/yyxr75/RadarINV.
Correlating Account on Ethereum Mixing Service via Domain-Invariant feature learning
Venue: arXiv cs.CR 2025
Year: 2025

The untraceability of transactions facilitated by Ethereum mixing services like Tornado Cash poses significant challenges to blockchain security and financial regulation. Existing methods for correlating mixing accounts suffer from limited labeled data and vulnerability to noisy annotations, which restrict their practical applicability. In this paper, we propose StealthLink, a novel framework that addresses these limitations through cross-task domain-invariant feature learning. Our key innovation lies in transferring knowledge from the well-studied domain of blockchain anomaly detection to the data-scarce task of mixing transaction tracing. Specifically, we design a MixFusion module that constructs and encodes mixing subgraphs to capture local transactional patterns, while introducing a knowledge transfer mechanism that aligns discriminative features across domains through adversarial discrepancy minimization. This dual approach enables robust feature learning under label scarcity and distribution shifts. Extensive experiments on real-world mixing transaction datasets demonstrate that StealthLink achieves state-of-the-art performance, with 96.98\% F1-score in 10-shot learning scenarios. Notably, our framework shows superior generalization capability in imbalanced data conditions than conventional supervised methods. This work establishes the first systematic approach for cross-domain knowledge transfer in blockchain forensics, providing a practical solution for combating privacy-enhanced financial crimes in decentralized ecosystems.
Promise of Data-Driven Modeling and Decision Support for Precision Oncology and Theranostics
Venue: arXiv cs.CE 2025
Year: 2025

Cancer remains a leading cause of death worldwide, necessitating personalized treatment approaches to improve outcomes. Theranostics, combining molecular-level imaging with targeted therapy, offers potential for precision oncology but requires optimized, patient-specific care plans. This paper investigates state-of-the-art data-driven decision support applications with a reinforcement learning focus in precision oncology. We review current applications, training environments, state-space representation, performance evaluation criteria, and measurement of risk and reward, highlighting key challenges. We propose a framework integrating data-driven modeling with reinforcement learning-based decision support to optimize radiopharmaceutical therapy dosing, addressing identified challenges and setting directions for future research. The framework leverages Neural Ordinary Differential Equations and Physics-Informed Neural Networks to enhance Physiologically Based Pharmacokinetic models while applying reinforcement learning algorithms to iteratively refine treatment policies based on patient-specific data.